System and method for management of hazardous conditions by a mobile machine

ABSTRACT

A system for detecting and avoiding dangerous conditions by a mobile machine having a body, an actuated machine component, and a dangerous condition sensor including a non-contact electrical power sensor, a wind speed or direction sensor, a tilt sensor, or a terrain type sensor is provided. The system includes a supervisory controller located in the mobile machine and in communication with a server for communicating data objects storing information related to hazardous conditions, and for receiving information regarding hazardous conditions manually designated or detected by a remote source. An interlock limits operation of the mobile machine to prevent operation in an unsafe condition. Hazardous conditions are categorized as a danger condition, a limited-operation condition, and/or a warning condition. A user signaling device including audio and visual signaling devices alert an operator of a hazard. A method of detecting and avoiding dangerous conditions by the mobile machine is also provided.

CROSS REFERENCE TO RELATED APPLICATION

This Utility Patent Application claims the benefit of U.S. ProvisionalPatent Application Ser. No. 62/450,592 filed Jan. 26, 2017 entitled“SYSTEM, COMPUTER PROGRAM PRODUCT AND METHOD FOR MEASURMENTS” which ishereby incorporated by reference in its entirety.

BACKGROUND 1. Field of the Invention

A system and method for distributed sensing, communicating, and reactingto hazardous conditions by a mobile machine is provided.

2. Description of the Prior Art

Current methods for sensing, communicating, and reacting to hazardousconditions rely on the continuous vigilance of staff on a work site toset appropriate alerts to hazards and to enforce procedures to avoidthose hazards. A brief lapse in vigilance can lead to an accident.Current systems and methods employ warning flags, signs, and fences withassociated procedures, training and enforcement.

Tall machines such as cranes and aerial work platforms are subject tostrong forces due to wind acting on the aerial structures of themachine. When these forces become too large for safe operation of themachine, due to concern for tip-over, vibrations, or personnel gettingblown off of an aerial platform, it is necessary cease machineoperations and secure the machine against the wind. Current solutionsfor monitoring high winds rely on personnel to read instruments andcommunicate to each other regarding wind hazards.

A leading cause of death and injury among users of aerial work platformsand cranes is electrocution due to contact with high-voltage overheadpower lines. Existing methods for mitigating risks due to such energizedconductors involve safety briefings for users of aerial equipmentoperating near power lines, coupled with warning signs underneath thepower lines.

A need exists for automatically detecting, avoiding, and reportinghazardous conditions by a mobile machine and for automatically reactingto hazardous conditions detected or reported by others. In particular,needs exists for detecting and responding to hazardous conditions causedby high winds or energized electrical conductors.

SUMMARY OF THE INVENTION

The invention provides for a system and method for detecting andavoiding dangerous conditions by a mobile machine. The system includes adangerous condition sensor disposed upon the mobile machine fordetecting a condition associated with a hazardous condition presenting apotential danger to the mobile machine. An interlock is included forlimiting operation of the mobile machine.

A supervisory controller located in the mobile machine includes a firstprocessor and a first computer readable storage media and is incommunication with the dangerous condition sensor and the interlock. Thesupervisory controller is configured to cause the interlock to limitoperation of the mobile machine in response to the hazardous conditionassociated with the condition detected by the dangerous conditionsensor.

As shown in FIG. 2, the system also includes a server located remotelyfrom the mobile machine and including a second processor and a secondcomputer readable storage media. A communications module is incommunication with the supervisory controller for communicating with theserver via an external network and using a communications channel. Thesystem also includes one or more data objects including informationregarding the hazardous condition, and a database located in at leastone of the first computer readable storage media or the second computerreadable storage media of the server and storing a plurality of the dataobjects.

According to an aspect of the invention, the dangerous condition sensormay include a wind speed sensor. According to an alternative oradditional aspect, the dangerous condition sensor may include anon-contact electrical power sensor.

The present disclosure also provides a method of detecting and avoidingdangerous conditions by a mobile machine. The method includes detectinga condition associated with a potential danger to the mobile machineusing a dangerous condition sensor. The method also includes identifyinga hazardous condition based on the detection of the condition associatedwith a potential danger to the mobile machine using the dangerouscondition sensor disposed on the mobile machine with a supervisorycontroller located in the mobile machine.

The method proceeds with the step of communicating from the supervisorycontroller the detection of the condition associated with the potentialdanger to the mobile machine to a server located remotely from themobile machine via an external network and using a communicationschannel with a communications module in communication with thesupervisory controller. The method includes storing a data objectincluding information regarding the hazardous condition in a databaselocated in at least one of a first computer readable storage media ofthe supervisory controller or a second computer readable storage mediaof the server. The method also includes limiting operation of the mobilemachine using an interlock in response to the hazardous condition.

BRIEF DESCRIPTION OF THE DRAWINGS

Other advantages of the present invention will be readily appreciated,as the same becomes better understood by reference to the followingdetailed description when considered in connection with the accompanyingdrawings wherein:

FIG. 1 is side view of an example mobile machine;

FIG. 2 is a schematic top view including another example mobile machine;

FIG. 3 shows an example map illustrating a rooftop jobsite;

FIG. 4 is a block diagram of an example embodiment of components withina system for detecting and avoiding dangerous conditions by a mobilemachine;

FIG. 5 is a block diagram of a non-contact electrical power sensor;

FIG. 6 is a block diagram of an example embodiment of a supervisorycontroller and a server in accordance with an aspect of the disclosure;

FIG. 7 is a flow chart illustrating steps of a method for detecting andavoiding dangerous conditions by a mobile machine;

FIG. 8 is a continuation of the flow chart of FIG. 7; and

FIG. 9 is a continuation of the flow chart of FIG. 8.

DESCRIPTION OF THE ENABLING EMBODIMENT

Referring to the Figures, wherein like numerals indicate correspondingparts throughout the several views, a system 20 for detecting andavoiding dangerous conditions by a mobile machine 22 is disclosed.

As shown in FIG. 2, the system 20 includes a mobile machine 22 having abody 24 containing a powerplant 26. As shown in FIG. 1, the powerplant26 is coupled to a drivetrain 28 for locomotion. The powerplant 26 mayinclude, for example, one or more electric motors and/or an internalcombustion engine. The drivetrain 28 may include a transmission, one ormore drive shafts, clutches, etc. for moving the mobile machine 22. Thedrivetrain 28 may include wheels as shown in FIG. 1, although treads,legs, or other such devices conveying force to the ground may be used.The mobile machine 22 may alternatively have both fixed and moveablecomponents such with a tower crane commonly used in the construction oflarge buildings. In such instances, the drivetrain 28 may be used, forexample, for moving a part of the mobile machine 22, such as a trolley,but not the entirety of the mobile machine 22.

As shown in FIG.1, the mobile machine 22 includes an actuated machinecomponent 32 attached to the body 24 and movable between a plurality ofpositions relative to the body 24 by one or more actuators 33. As shownin FIG. 1, the actuated machine component 32 is an arm holding an aeriallift platform for supporting persons in an elevated position. Theactuated machine component 32 could also be an arm for moving a toolsuch as an excavator bucket or a grabber or a saw. The actuated machinecomponent 32 may be provided in another form such as, for example, afork for lifting a load, a crane boom, or a blade of an earthmovingmachine.

As shown in FIGS. 1 and 2, the mobile machine 22 also includes adangerous condition sensor 34 disposed upon the mobile machine 22 fordetecting a condition associated with a potential danger to the mobilemachine 22. The dangerous condition sensor 34 includes one or more of anon-contact electrical power sensor 36, a wind speed sensor 38, a winddirection sensor 40, a tilt sensor 42, or a terrain type sensor 44.Other types of dangerous condition sensors 34 may also be used with thepresent invention such as, for example, a machine vision system 20 fordetecting and identifying a potential danger to the mobile machine 22 bysight. The tilt sensor 42 may detect uneven or sloping ground upon whichthe mobile machine 22 is located. The tilt sensor 42 may also detect themobile machine 22 being tipped-over, or leaning such as, fromover-extension and/or over loading. The terrain type sensor 44 maydetect uneven or rough terrain based on, for example, vibrations,suspension travel, and/or wheel slip. The terrain type sensor 44 may beable to distinguish operation on paved surfaces from dirt or sand orother types of terrain. The wind speed sensor 38 and the wind directionsensor 40 may be combined into a single device such as anomnidirectional anemometer.

As shown in FIG. 1, either or both of the wind speed sensor 38 or thewind direction sensor 40 may be mounted to the actuated machinecomponent 32 opposite from the body 24. In other words, the sensing partor parts of the wind speed sensor 38 are preferably located at or nearthe highest point of the mobile machine 22. This configuration allowsfor a mobile machine 22 to detect potentially hazardous wind at theprecise place where such wind can act to cause a danger to the mobilemachine 22 or persons working thereupon or nearby from, for example,tipping. In this way, air currents can be detected directly thatotherwise could be missed by other methods such as weather forecasts, orstationary weather monitoring devices.

As shown in FIG. 5, the non-contact electrical power sensor 36 includesan electric field sensor 46. The electric field sensor 46 includes anantenna 48 of an electrically conductive material in electricalcommunication with a voltage amplifier 50 to generate an E-field signal52. The voltage amplifier 50 may be an inverting op-amp circuit as shownin FIG. 5, with an input resistor R₁ and a first feedback resistorR_(F1) connected between the output and inverting input of the op-amp.The entire non-contact electrical power sensor 36 may be mounted to theactuated machine component 32 opposite from the body 24 as shown inFIG. 1. Alternatively, the antenna 48 may be placed at that location,with the voltage amplifier 50 and/or other parts of the non-contactelectrical power sensor 36 being located remotely therefrom (e.g. withinthe body 24 of the mobile machine 22). In other words, the sensing partor parts of the non-contact electrical power sensor 36 are preferablylocated at or near the highest point of the mobile machine 22.

As shown in FIG. 5, the non-contact electrical power sensor 36 alsoincludes a magnetic field sensor 54. The magnetic field sensor 54includes a coil 56 of wire in electrical communication with atransimpedance amplifier 58 generating a B-field signal 60 correspondingto an induced electrical current i_(p) in the coil 56 by interactionwith a magnetic field. In other words, the transimpedance amplifier 58converts currents induced in the coil 56 of wire by time-varyingmagnetic fields into a voltage representing the B-field signal 60. Thecoil 56 of wire preferably has a relatively low number of turns. Thecoil 56 of wire also has a diameter of about 6 inches. The coil 56 ofwire may be wound around and/or imbedded within a non-conductivematerial such as rubber or plastic to provide stability and protectionagainst damage due to vibration and/or contact with persons or objects.The transimpedance amplifier 58 may be an inverting op-amp circuit asshown in FIG. 5, with a second feedback resistor R_(F2) connectedbetween the output and inverting input of the op-amp. The entirenon-contact electrical power sensor 36 may be mounted to the actuatedmachine component 32 opposite from the body 24 as shown in FIG. 1.Alternatively, the coil 56 may be placed at that location, with thetransimpedance amplifier 58 and/or other parts of the non-contactelectrical power sensor 36 being located remotely therefrom (e.g. withinthe body 24 of the mobile machine 22).

As also shown in FIG. 5, the non-contact electrical power sensor 36further includes a sensor controller 62 in communication with thevoltage amplifier 50 and the transimpedance amplifier 58 to determineproximity to an energized conductor 64 by comparing the E-field signal52 and the B-field signal 60 to predetermined signatures of differenttypes of energized conductors 64 and to determine potential hazardousconditions 66 therefrom (e.g. distance thereto, etc.). The sensorcontroller 62 may include signal processing hardware or software toidentify characteristics of energized conductors 64 and to determineproximity thereto. For example, the sensor controller 62 candifferentiate energized conductors 64 which are high voltage overheadpower lines, bus bars, etc. which could form a potential hazard, fromother less dangerous energized conductors 64 such as wiring used forlighting, receptacles, etc. The sensor controller 62 may also controlthe gain of either or both of the voltage amplifier 50 and/or thetransimpedance amplifier 58.

The sensor controller 62 may be programmable as to the field strengthand field strength expected in the work area and the frequencies ofinterest. For example, when working in a residential setting that is notnear very-high-voltage transmission lines and is in North America,signal processing by the sensor controller 62 is preferably responsiveto relatively weak electric fields generated by the 220 volt, 60 Hertzsupply lines running from a utility pole to the residence. Thusamplifier gain is preferably set relatively high and filtering ispreferably set to pass a narrow band around 60 Hz. In another example,for a factory in Europe that uses high voltage overhead buss bars, thesignal processing by the sensor controller 62 is preferably set torespond to relatively stronger electric and magnetic fields (loweramplifier gain) with filtering around the 50 Hertz mains frequency. Inanother example, for machines operated near equipment driven by avariable frequency motor drive it may be necessary to allow a broaderrange of frequencies to pass through the filtering stage. The magneticfield sensor 54 is important to sense the presence of transformers orelectric motors, which usually fed by high voltage wiring. Thesesettings by the sensor controller 62 combine to form a “recipe” fordetecting energized conductors 64 that is optimized for the locationwhere the mobile machine 22 is used. These settings by the sensorcontroller 62 may be automatically recorded, saved, shared, and loadedfor use with particular jobsite locations, regions, or location typesfor example, a “recipe” for use in North American factories may differfrom a “recipe” for European outdoor mining jobsites.

As illustrated in FIGS. 2 and 4, the system 20 includes an interlock 70for limiting operation of the mobile machine 22 to prevent operation inan unsafe condition. Specifically, as shown on FIG. 4, one or more ofthe interlocks 70 are functionally connected to limit the operation ofan associated one of the actuators 33 and/or the powerplant 26 and/orthe drivetrain 28. The interlock 70 may take the form of a hardware orsoftware device. The interlock 70 may take the form of a mechanical partthat physically interrupts some operation of the mobile machine 22. Theinterlock 70 may include, for example, an electrical orelectro-mechanical device that provides or interrupts electrical currentto a part of the mobile machine 22 such as an actuator 33. The Detailsregarding use of the interlocks 70 to prevent operation of the mobilemachine 22 in an unsafe condition are provided in subsequent paragraphs.

As also shown in FIGS. 2 and 4, the system 20 includes a user signalingdevice 72, 74 including an audio signaling device 72 and a visualsignaling device 74 for providing a corresponding signal to an operatorof the mobile machine 22. In the boom-lift type elevated work platformexample of mobile machine 22 shown in FIG. 1, an operator may drive themobile machine 22 from the elevated work platform opposite the body 24,and may do so without the aid of a fixed instrument cluster. In such anexample, the audio signaling device 72 is preferably a loud beeper orbuzzer, which can be easily noticed from a range of expected operatingpositions and in a wide range of environments. Likewise, the visualsignaling device 74 used with a boom-lift type elevated work platform ispreferably a bright blinking light such as a strobe. For other types ofmobile machines 22, such as an earthmover operated from a fixed cab, thetask of signaling the operator of the mobile machine 22 may be done bythe audio signaling device 72 being a speaker or buzzer that issufficiently loud and distinguishable to be heard above the ambientsounds in the cab. Likewise, the visual signaling device 74 used with amobile machine 22 operated from a fixed cab may be a warning light on aninstrument cluster or a warning message on a display screen.

As shown in FIG. 2, the system 20 includes a location device 30 disposedupon the mobile machine 22 for determining a position and orientation ofthe mobile machine 22. The location device 30 may include one or more ofa GPS, a compass, a range finder or precise measuring equipment such asinstruments used in surveying. The location device 30 may includecomponents in stationary locations and/or may include a combination ofone or more stationary components and one or more mobile componentsdisposed upon the mobile machine 22 such as, for example, a radar orlaser reflecting from one or more corresponding reflectors.

As best shown in FIG. 4, the system 20 also includes a supervisorycontroller 76 located in the mobile machine 22 and including a firstprocessor 78 and a first computer readable storage media 80 and incommunication with the dangerous condition sensor 34 and the interlock70 and the user signaling device 72, 74 and the location device 30.

As best shown in FIG. 2, the system 20 includes a server 82 locatedremotely from the mobile machine 22. The server 82 includes a secondprocessor 84 and a second computer readable storage media 86 and is inregular communications with the supervisory controller 76 by acommunications module 88, such as a Wi-Fi radio or a cellular datamodem, located in the mobile machine 22. The communications module 88allows the supervisory controller 76 to communicate with the server 82via an external network 90 and using a communications channel 92. Theexternal network 90 which may be, for example, the Internet, alocal-area network (LAN), or a wide-area network (WAN). The externalnetwork 90 may include a virtual network, such as a virtual privatenetwork (VPN) to provide secured communications.

The supervisory controller 76 is responsive to a hazardous condition 66detected by at least one of the dangerous condition sensors 34 or by aremote source 94 independent of the mobile machine 22. The remote source94 may include, for example, another machine, a stationary sensor, or aweather report. The supervisory controller 76 is also responsive tohazardous conditions 66 associated with designated hazards 68 which maybe provided, for example, by a land survey (e.g. showing unstable soiltypes or steep grades), or by engineering drawings (e.g. showingdrop-offs from an elevated position or man-made hazardous conditions 66such as electrical wires, gas, or water lines), or which may be manuallyreported by a machine operator. The designated hazards 68 may be stored,for example, as information by the server 82 and reported to thesupervisory controller 76. With reference to FIG. 2, the remote source94 may communicate directly with the server 82, which may store andreport information regarding hazardous conditions 66 detected by theremote source 94. Alternatively or additionally, remote sources 94 maycommunicate directly with the supervisory controller 76 and may reporthazardous conditions 66 without using the server 82. This may allowpeer-to-peer type operation, or relaying information from the server 82through a remote source 94 and to the supervisory controller 76 in caseswhere direct communication between the server 82 and the supervisorycontroller 76 is unavailable.

Each of the hazardous conditions 66 are associated with one of aplurality of condition categories 98, 100, 102 including: a dangercondition 98 associated with a prohibition of any operation of themobile machine 22, and a limited-operation condition 100 requiring themobile machine 22 to be operated in a limited mode, and a warningcondition 102 for signaling an operator of a potential danger. FIG. 3illustrates map 112 of a rooftop jobsite including examples of hazardousconditions 66 having such condition categories 98, 100, 102 and whichare further explained in the subsequent paragraphs. A limited-operationcondition 100 is illustrated on FIG. 3 by the area around and belowoverhead power lines. Another limited-operation condition 100 may be,for example, operation on pitched ground having a grade more than, forexample, 10%. Yet another example of a limited-operation condition 100is winds above a limited operation threshold, such as 45 mph. Thelimited mode may allow, for example, a boom-lift type elevated workplatform to be driven with the work platform in lowered configuration,for example, no more than feet above the ground. The limited mode mayallow, for example, the mobile machine 22 to be operated at a low speedsignificantly lower than the maximum speed possible away from anyhazardous conditions 66.

A danger condition 98 associated with a specific area is illustrated onFIG. 3 by the area adjacent the peripheral edge of the rooftop jobsite.The danger condition 98 may allow for more limited operation than thelimited mode, such as, for example, moving the mobile machine 22 only ina direction away from a specific hazard or allowing the actuated machinecomponent 32 to be returned to a specific safe state, for example,allowing an elevated work platform to be lowered, but disallowing it tobe raised. A danger condition 98 may exist in all locations where themobile machine 22 may be operating such as in a large jobsite area dueto, for example, high wind, lightning, a tornado, or flash floodingbeing reported nearby.

A warning condition 102 associated with a specific area for signaling anoperator of a potential danger is also illustrated on FIG. 3 by the linenear the peripheral edge of the rooftop jobsite and spaced inwardly fromthe danger condition 98 area. A warning condition 102 may also exist inall locations where the mobile machine 22 may be operating such as in alarge jobsite area due to, for example, strong winds, or weatherconditions that could cause danger such as, for example, a tornado watchor a possible thunderstorm.

The interlock 70 may limit the operation of the actuated machinecomponent 32 within a predetermined distance of one of the hazardousconditions 66 to minimize risks from the one of the hazardous conditions66. For example, the interlock 70 may automatically lower, or preventlifting of, a boom-lift type elevated work platform in response acommand by the supervisory controller 76, responsive one of thehazardous conditions 66 associated with such a limited-operationcondition 100, as described above.

The interlock 70 may limit the speed of the mobile machine 22 whileexposed to or within a predetermined distance of one of the hazardousconditions 66 having a limited-operation condition 100 or a dangercondition 98 associated therewith. For example, the supervisorycontroller 76 may command the interlock 70 to limit the speed of themobile machine 22 by, for example, limiting the output of the powerplant26 or limiting the gearing of the drivetrain 28. As another example, amobile machine 22 subjected to a limited-operation condition 100 causedby a non-level grade may be exposed to a danger of tipping. A boom-lifttype elevated work platform, such as the type shown in FIG. 1, mayinclude an interlock 70 that limits the amount that the boom can extendin such a case to mitigate the risk of tipping-over, particularly withthe boom in an extended position. Likewise, a mobile machine 22 that isa crane may be de-rated in

Substitute specification its lifting capacity in response to the samesteep grade hazardous condition 66 to mitigate the risk of tipping.

The interlock 70 may prevent the mobile machine 22 from being moved towithin a predetermined distance of one of the hazardous conditions 66having a danger condition 98 associated therewith by preventing at leastone of operation of the powerplant 26, transmission of power through thedrivetrain 28, or steering in a direction toward the one of thehazardous conditions 66 having the danger condition 98 associatedtherewith.

As shown in FIG. 6, a data object 104 includes information regarding oneof the hazardous conditions 66 including type of hazard, a location ofthe hazard, which may include a location in 3-dimensional space, suchas, for example, x and y coordinates and an elevation for overhead powerlines. Elevation data may come from a combination of sources. Forexample, a base elevation of the mobile machine 22 from static sourcessuch as a map or from a dynamic source, such as from a laser level,augmented GPS, or other such device, may be combined with heightinformation regarding the extension of the actuated machine component 32to determine a precise elevation where, for example, a wind speed sensor38 and/or a non-contact electrical power sensor 36 has detected thehazardous condition 66. The data object 104 may also a time associatedwith transient-type ones of the hazardous conditions 66 such as fortemporary construction hazardous conditions 66 (e.g. holes) or forweather-related hazardous conditions 66 such as high wind or lightning.

The system 20 includes a database 106 located in at least one of thefirst computer readable storage media 80 of the supervisory controller76 or the second computer readable storage media 86 of the server 82 andstoring a plurality of the data objects 104. The database 106 may bedistributed therebetween, such as, for example, the server 82 andstoring the data objects 104 related to a wide geographic area, and withthe supervisory controller 76 holding a copy of only those ones of thedata objects 104 pertinent to the mobile machine 22. The ones of thedata objects 104 pertinent to the mobile machine 22 may be those relatedto hazardous conditions 66 within a geographic proximity to the mobilemachine 22 or those which impact the mobile machine 22 due to theirphysically distributed nature (e.g. high winds or lightning). The onesof the data objects 104 stored on the local machine may be updated bythe server 82 as the mobile machine 22 moves to different geographicareas.

According to an aspect, the communications module 88 may be in directcommunication with at least one other vehicle for directly communicatingthe data objects 104 therebetween. This may provide for a mesh-typenetwork or a peer-to-peer networking capacity, for example, if theserver 82 is not available.

As shown in FIG. 2, the system 20 includes a user interface device 108displaying the hazardous conditions 66 as graphic items 110 on a map112, which may be similar to the map 112 of FIG. 3. The graphic items110 on the map 112 are dynamically updated as hazardous conditions 66are identified or discovered on the job site. In this way, the operatorof the mobile machine 22 always has an up-to-date copy of the map,showing any and all known hazardous conditions 66 as soon as thosehazardous conditions 66 are identified or discovered by anyone on thejob site.

The system 20 also includes a reporting control 114 on the userinterface device 108 for manual entry of a new one of the hazardousconditions 66 as a designated hazard 68 and for communicating thedesignated hazard 68 to one of the supervisory controller 76 or theserver 82. For example, an operator of the mobile machine 22 may see adangerous condition such as an open floor hatch as shown on FIG. 3. Theoperator may use the reporting control 114 on the user interface device108 to note that dangerous condition as designated hazard 68. The system20 may then include that designated hazard 68 in its record of hazardousconditions 66 and may show that designated hazard 68 to other mobilemachines 22 and/or persons in the area, which may all benefit fromknowledge of the designated hazard 68.

As shown in FIG. 6, the system 20 also includes an interaction record 96storing information regarding interactions between the mobile machine 22and any of the hazardous conditions 66 and including locations and timesof any warnings and details regarding interactions any of the hazardousconditions 66 having a limited-operation condition 100 or a dangercondition 98 associated therewith. The interaction record 96 may be usedfor operator training and process improvement purposes.

The user interface device 108 may include one of a smartphone or atablet such as an iPad or a device running the Android operating system20. The user interface device 108 may include a personal computer orlaptop, netbook, and/or may include a custom hardware configuration suchas a touch screen, keyboard, mouse, trackpad, or other input and outputdevices. According to an aspect, the user interface device 108 mayinclude a graphical user interface (GUI).

As shown in FIGS. 7-9, a method 200 of detecting and avoiding dangerousconditions by a mobile machine 22 is also provided.

The method 200 includes 202 providing locomotion of the mobile machine22 using a powerplant 26 coupled to a drivetrain 28.

The method 200 also includes 204 determining a position and orientationof the mobile machine 22 using a location device 30 disposed upon themobile machine 22.

The method 200 also includes 206 detecting a condition associated with apotential danger to the mobile machine 22 using a dangerous conditionsensor 34 being at least one of a non-contact electrical power sensor36, a wind speed sensor 38, a wind direction sensor 40, a tilt sensor42, or a terrain type sensor 44 disposed upon the mobile machine 22.

The method 200 also includes 208 generating an E-field signal 52 usingthe non-contact electrical power sensor 36 and an electric field sensor46 including an antenna 48 of an electrically conductive material inelectrical communication with a voltage amplifier 50.

The method 200 also includes 210 generating a B-field signal 60corresponding to an induced electrical current i_(p) in a coil 56 ofwire of a magnetic field sensor 54 by interaction with a magnetic field.

The method 200 also includes 212 comparing the E-field signal 52 and theB-field signal 60 to predetermined signatures of energized conductors 64using a sensor controller 62 in communication with the voltage amplifier50 and a transimpedance amplifier 58 coupled to the coil 56.

The method 200 also includes 214 determining a proximity of the mobilemachine 22 to an energized conductor 64 to determine potential hazardouscondition 66 using the comparison of the E-field signal 52 and theB-field signal 60 to predetermined signatures of different types ofenergized conductors 64.

The method 200 also includes 216 identifying a hazardous condition 66based on the detection of the condition associated with a potentialdanger to the mobile machine 22 using the dangerous condition sensor 34disposed on the mobile machine 22 with a supervisory controller 76located in the mobile machine 22.

The method 200 also includes 218 designating a hazardous condition 66 byan operator of the mobile machine 22 using a reporting control 114 on auser interface device 108.

The method 200 also includes 220 responding to a hazardous condition 66by the supervisory controller 76.

The method 200 also includes 222 limiting operation of the mobilemachine 22 to prevent operation in an unsafe condition and/or to limitexposure of the mobile machine 22 to an unsafe condition using aninterlock 70. According to an aspect, the hazardous condition 66 may beassociated with one of a plurality of condition categories 98, 100, 102including at least one of: a danger condition 98 associated with aprohibition of any operation of the mobile machine 22, or alimited-operation condition 100 requiring the mobile machine 22 to beoperated in a limited mode, or a warning condition 102 for signaling anoperator of a potential danger.

The method 200 also includes 224 preventing movement of the mobilemachine 22 to within a predetermined distance of one of the hazardousconditions 66 having a danger condition 98 associated therewith bypreventing at least one of: operating a powerplant 26, transmittingpower through a drivetrain 28, or steering in a direction toward the oneof the hazardous conditions 66 having the danger condition 98 associatedtherewith.

The method 200 also includes 226 limiting operation of an actuatedmachine component 32 of the mobile machine 22 within a predetermineddistance of the hazardous condition 66 to minimize risks from thehazardous condition 66.

The method 200 also includes 228 preventing the mobile machine 22 frombeing operated with an actuated machine component 32 in a predeterminedconfiguration with the mobile machine 22 being exposed to one of thehazardous conditions 66 having a limited-operation condition 100. Forexample, an elevated work platform type of mobile machine 22, may beprevented from moving and/or from raising the elevated work platform inareas near an overhead power line that could be contacted by theelevated work platform in an extended position. As another example, acrane having a boom may not be able to operate with the boom extended inan area having a steep grade that could cause the crane to be unstableor to tip.

The method 200 also includes 230 limiting a speed of the mobile machine22 in response to the mobile machine 22 being exposed to one of thehazardous conditions 66 having a limited-operation condition 100.

The method 200 also includes 232 providing a corresponding signal to anoperator of the mobile machine 22 using at least one of an audiosignaling device 72 or a visual signaling device 74 in response todetermining the potential hazardous condition 66;

The method 200 also includes 234 communicating from the supervisorycontroller 76 the detection of the condition associated with thepotential danger to the mobile machine 22 to a server 82 locatedremotely from the mobile machine 22 via an external network 90 and usinga communications channel 92 with a communications module 88 incommunication with the supervisory controller 76.

The method 200 also includes 236 storing a plurality of data objects 104in a database 106 located in at least one of a first computer readablestorage media 80 of the supervisory controller 76 or a second computerreadable storage media 86 of the server 82, with each of the dataobjects 104 including information regarding a corresponding one of thehazardous conditions 66.

The method 200 also includes 238 storing information regardinginteractions between the mobile machine 22 and any of the hazardousconditions 66 using an interaction record 96. The interaction record 96may be stored in one or both of the supervisory controller and/or theserver. The interaction record 96 may also include locations and timesof any warnings and details regarding interactions any of the hazardousconditions 66 having a limited-operation condition 100 or a dangercondition 98 associated therewith. The interaction record 96 may be usedfor operator training and process improvement purposes.

The method 200 also includes 240 directly communicating the detection ofthe hazardous condition 66 to another mobile machine 22 using acommunications module 88 located in the mobile machine 22 being indirect communication with the another mobile machine 22.

The method 200 also includes 242 displaying the hazardous conditions 66as graphic items 110 on a map 112 using a user interface device 108.

The method 200 may further include 250 verifying the functionality ofone of the dangerous condition sensors 34 disposed on the mobile machine22 by one of: 250A comparing readings from the one of the dangerouscondition sensors 34 with independent data, or 250B artificiallytriggering the one of the dangerous condition sensors 34. Theindependent data may include readings from one or more remote sources 94or previously recorded data such as, for example, data objects 104 inthe database 106. Artificial triggering may include, for example,creating an electric field and/or magnetic field of known intensity toexcite an electric field sensor 46 and/or a magnetic field sensor 54.Such artificial triggering may include, for example, blowing upon a windspeed sensor 38 and/or a wind direction sensor 40 or causing airmovement relative thereto by, for example, moving the mobile machine 22or an actuated machine component 32 upon which the wind speed sensor 38and/or the wind direction sensor 40 is mounted.

The method 200 further includes 260 providing a warning signal to anoperator of the mobile machine 22 using at least one of an audiosignaling device 72 or a visual signaling device 74.

The method 200 further includes 262 overriding a warning signal by aqualified operator input. This step may apply to block the effect ofstep 260 For example, where regular and/or extended work is to beperformed at a location causing a warning to be enunciated by the audiosignaling device 72 and/or the visual signaling device 74, a qualifiedoperator may acknowledge or silence such warnings to prevent them frombeing a nuisance. Warnings may be time limited and/or reset whenever themobile machine 22 moves away from the hazardous condition 66. A warningoverride may be done by a dedicated hardware such a button or switch ormay be integrated on the user interface device 108. The step of 262overriding a warning may be done remotely from the mobile machine 22,such as, for example, by a jobsite supervisor and may be performed byinteraction with the server 82. The use of such a warning override maybe recorded and stored, for example, by the supervisory controller 76 orby the server 82 and may be used for operator training and processimprovement purposes.

The method 200 also includes 262 overriding the limiting of operation ofthe mobile machine 22 by an interlock override provided by a qualifiedoperator input. In other words, an interlock 70 that would otherwiselimit the operation of the mobile machine 22 may be overridden orblocked from limiting the operation of the mobile machine 22 by aninterlock override. The interlock override may be, for example, a manualcontrol that prevents the interlock 70 from limiting the operation ofthe mobile machine 22. This may allow, for example, an operator toapproach high voltage wiring after having been warned of proximity tothe hazardous condition 66. Some hazardous conditions 66 may bedesignated as non-over rideable. For example, a hazardous condition 66related to specifically high wind or lightning proximity may requireceasing of operation for compliance with safety regulations. Those typeof hazardous conditions 66 may be configured as non-over rideable andmay cause the mobile machine 22 to be limited in operation which cannotbe overridden by manual override of the machine operator. An interlockoverride may be done by a dedicated hardware such a button or switch ormay be integrated on the user interface device 108. The step of 262overriding the limiting of operation of the mobile machine 22 may bedone remotely from the mobile machine 22, such as, for example, by ajobsite supervisor and may be performed by interaction with the server82. For example, a trainee operator may be prevented from overriding aninterlock locally at the mobile machine, but may request for asupervisor or trainer to remotely override the interlock. Such anarrangement would prevent a trainee operator from improperly overridingan interlock where doing so causes unsafe operation. The use of such aninterlock override may be recorded and stored, for example, by thesupervisory controller 76 or by the server 82 and may be used foroperator training and process improvement purposes.

The system, methods and/or processes described above, and steps thereof,may be realized in hardware, software or any combination of hardware andsoftware suitable for a particular application. The hardware may includea general purpose computer and/or dedicated computing device or specificcomputing device or particular aspect or component of a specificcomputing device. The processes may be realized in one or moremicroprocessors, microcontrollers, embedded microcontrollers,programmable digital signal processors or other programmable device,along with internal and/or external memory. The processes may also, oralternatively, be embodied in an application specific integratedcircuit, a programmable gate array, programmable array logic, or anyother device or combination of devices that may be configured to processelectronic signals. It will further be appreciated that one or more ofthe processes may be realized as a computer executable code capable ofbeing executed on a machine readable medium.

The computer executable code may be created using a structuredprogramming language such as C, an object oriented programming languagesuch as C++, or any other high-level or low-level programming language(including assembly languages, hardware description languages, anddatabase programming languages and technologies) that may be stored,compiled or interpreted to run on one of the above devices as well asheterogeneous combinations of processors processor architectures, orcombinations of different hardware and software, or any other machinecapable of executing program instructions.

Thus, in one aspect, each method described above and combinationsthereof may be embodied in computer executable code that, when executingon one or more computing devices performs the steps thereof. In anotheraspect, the methods may be embodied in systems that perform the stepsthereof, and may be distributed across devices in a number of ways, orall of the functionality may be integrated into a dedicated, standalonedevice or other hardware. In another aspect, the means for performingthe steps associated with the processes described above may include anyof the hardware and/or software described above. All such permutationsand combinations are intended to fall within the scope of the presentdisclosure.

Obviously, many modifications and variations of the present inventionare possible in light of the above teachings and may be practicedotherwise than as specifically described while within the scope of theappended claims.

What is claimed is:
 1. A system for detecting and avoiding dangerousconditions by a mobile machine and comprising: a dangerous conditionsensor disposed upon the mobile machine for detecting a conditionassociated with a hazardous condition presenting a potential danger tothe mobile machine; an interlock for limiting operation of said mobilemachine; a supervisory controller located in the mobile machine andincluding a first processor and a first computer readable storage mediaand in communication with said dangerous condition sensor and saidinterlock; said supervisory controller configured to cause saidinterlock to limit operation of said mobile machine in response to saidhazardous condition associated with said condition detected by saiddangerous condition sensor; a server located remotely from the mobilemachine and including a second processor and a second computer readablestorage media; a communications module in communication with saidsupervisory controller for communicating with said server via anexternal network and using a communications channel; a data objectincluding information regarding said hazardous condition; and a databaselocated in at least one of the first computer readable storage media orthe second computer readable storage media of said server and storing aplurality of said data objects.
 2. The system for detecting and avoidingdangerous conditions by a mobile machine as set forth in claim 1,wherein said mobile machine includes a body with an actuated machinecomponent attached to said body and movable between a plurality ofpositions relative to said body; and wherein said interlock limits theoperation of said actuated machine component within a predetermineddistance of one of said hazardous conditions to minimize risks from saidone of said hazardous conditions.
 3. The system for detecting andavoiding dangerous conditions by a mobile machine as set forth in claim1, wherein said hazardous conditions are associated with one of aplurality of condition categories; and wherein said plurality ofcondition categories includes at least one of: a danger conditionassociated with a prohibition of any operation of said mobile machine,or a limited-operation condition requiring said mobile machine to beoperated in a limited mode, or a warning condition for signaling anoperator of a potential danger.
 4. The system for detecting and avoidingdangerous conditions by a mobile machine as set forth in claim 3,wherein said interlock prevents said mobile machine from being moved towithin a predetermined distance of one of said hazardous conditionshaving a danger condition associated therewith by preventing at leastone of: operation of a powerplant, transmission of power through adrivetrain, or steering in a direction toward said one of said hazardousconditions having said danger condition associated therewith.
 5. Thesystem for detecting and avoiding dangerous conditions by a mobilemachine as set forth in claim 3, wherein said mobile machine includes abody with an actuated machine component attached to said body andmovable between a plurality of positions relative to said body; andwherein said interlock prevents said mobile machine from being operatedwith said actuated machine component in a predetermined configurationwith said mobile machine being exposed to one of said hazardousconditions having a limited-operation condition.
 6. The system fordetecting and avoiding dangerous conditions by a mobile machine as setforth in claim 3, wherein said interlock limits the speed of said mobilemachine with said mobile machine being exposed to one of said hazardousconditions having a limited-operation condition.
 7. The system fordetecting and avoiding dangerous conditions by a mobile machine as setforth in claim 1, wherein said mobile machine includes a body with anactuated machine component attached to said body and movable between aplurality of positions relative to said body; and wherein said dangerouscondition sensor includes at least one of a wind speed sensor or a winddirection sensor; and wherein said at least one of said wind speedsensor or said wind direction sensor is mounted to said actuated machinecomponent opposite from said body.
 8. The system for detecting andavoiding dangerous conditions by a mobile machine as set forth in claim1, wherein said dangerous condition sensor is a non-contact electricalpower sensor including an electric field sensor.
 9. The system fordetecting and avoiding dangerous conditions by a mobile machine as setforth in claim 1, wherein said mobile machine includes a body with anactuated machine component attached to said body and movable between aplurality of positions relative to said body; and wherein said dangerouscondition sensor is a non-contact electrical power sensor including oneof an electric field sensor or a magnetic field sensor; and wherein theone of an electric field sensor or a magnetic field sensor is mounted tosaid actuated machine component opposite from said body;
 10. A systemfor detecting and avoiding dangerous conditions by a mobile machine andcomprising: a dangerous condition sensor disposed upon the mobilemachine for detecting a condition associated with a potential danger tothe mobile machine; a supervisory controller located in the mobilemachine and including a first processor and a first computer readablestorage media and in communication with said dangerous condition sensorand said interlock; a server located remotely from the mobile machineand including a second processor and a second computer readable storagemedia; a communications module in communication with said supervisorycontroller for communicating with said server to report the detection ofthe condition associated with the potential danger to the mobilemachine; and wherein said dangerous condition sensor includes anon-contact electrical power sensor.
 11. The system for detecting andavoiding dangerous conditions by a mobile machine as set forth in claim10, further including: an interlock for limiting operation of saidmobile machine; and said supervisory controller configured to cause saidinterlock to limit operation of said mobile machine in response to ahazardous condition associated with said condition detected by saiddangerous condition sensor.
 12. The system for detecting and avoidingdangerous conditions by a mobile machine as set forth in claim 10,wherein said non-contact electrical power sensor includes an electricfield sensor generating an E-field signal.
 13. The system for detectingand avoiding dangerous conditions by a mobile machine as set forth inclaim 10, wherein said non-contact electrical power sensor includes amagnetic field sensor generating a B-field signal.
 14. The system fordetecting and avoiding dangerous conditions by a mobile machine as setforth in claim 10, further including: a user interface device displayinghazardous conditions as graphic items on a map.
 15. The system fordetecting and avoiding dangerous conditions by a mobile machine as setforth in claim 14, further including: a reporting control on said userinterface device for manual entry of a hazardous condition by anoperator of said mobile machine.
 16. A method of detecting and avoidingdangerous conditions by a mobile machine comprising the steps of:detecting a condition associated with a potential danger to the mobilemachine using a dangerous condition sensor; identifying a hazardouscondition based on the detection of the condition associated with apotential danger to the mobile machine using the dangerous conditionsensor disposed on the mobile machine with a supervisory controllerlocated in the mobile machine; communicating from the supervisorycontroller the detection of the condition associated with the potentialdanger to the mobile machine to a server located remotely from themobile machine via an external network and using a communicationschannel with a communications module in communication with thesupervisory controller; storing a data object including informationregarding the hazardous condition in a database located in at least oneof a first computer readable storage media of the supervisory controlleror a second computer readable storage media of the server; and limitingoperation of the mobile machine using an interlock in response to thehazardous condition.
 17. The method as set forth in claim 16, whereinthe hazardous condition is associated with one of a plurality ofcondition categories including at least one of: a danger conditionassociated with a prohibition of any operation of the mobile machine, ora limited-operation condition requiring the mobile machine to beoperated in a limited mode, or a warning condition for signaling anoperator of a potential danger; and wherein the step of limitingoperation of the mobile machine using an interlock in response toidentifying the hazardous condition includes the step of preventingmovement of the mobile machine from to within a predetermined distanceof one of the hazardous conditions having a danger condition associatedtherewith by preventing at least one of: operating a powerplant,transmitting power through a drivetrain, or steering in a directiontoward the one of the hazardous conditions having the danger conditionassociated therewith.
 18. The method as set forth in claim 16, furtherincluding the step of storing information regarding interactions betweenthe mobile machine and any of the hazardous conditions using aninteraction record.
 19. The method as set forth in claim 16, furtherincluding the step of directly communicating the detection of thehazardous condition to another mobile machine using a communicationsmodule located in the mobile machine being in direct communication withthe another mobile machine.
 20. The method as set forth in claim 16,further including the step of designating a hazardous condition by anoperator of the mobile machine using a reporting control on a userinterface device.